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<div class="title">sac_model_registration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/eigen.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/model_types.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html">   58</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_model_registration.html">SampleConsensusModelRegistration</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_name_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::error_sqr_dists_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::isModelValid</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">SampleConsensusModel&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusModelRegistration&gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a74b78a4520e1a9bbf4383a6592953681">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a74b78a4520e1a9bbf4383a6592953681">SampleConsensusModelRegistration</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                                        <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, random)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a> ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a> ()</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#afc82c76d1880b0cfefbe9ae71e1d95f7">correspondences_</a> ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a> (0)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="comment">// Call our own setInputCloud</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelRegistration&quot;</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 16;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a843dbea7d2ecd5da26f4ba03bbefa349">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a843dbea7d2ecd5da26f4ba03bbefa349">SampleConsensusModelRegistration</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                        <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, indices, random)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a> ()</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a> ()</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#afc82c76d1880b0cfefbe9ae71e1d95f7">correspondences_</a> ()</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a> (0)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">computeOriginalIndexMapping</a> ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#abe25637b4f83dd2d243fa6681a80f78d">computeSampleDistanceThreshold</a> (cloud, indices);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelRegistration&quot;</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 16;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a2eb44fa90e202d6f6baffde9075a1e6c">  114</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a2eb44fa90e202d6f6baffde9075a1e6c">~SampleConsensusModelRegistration</a> () {}</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">inline</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">  120</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#aae3b06fbee5243f926d40f8115bd406c">SampleConsensusModel&lt;PointT&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">computeOriginalIndexMapping</a> ();</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#abe25637b4f83dd2d243fa6681a80f78d">computeSampleDistanceThreshold</a> (cloud);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a6dc361a7533d16c5c2964bada50e1c3a">  131</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a6dc361a7533d16c5c2964bada50e1c3a">setInputTarget</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;target)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a> = target;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>.reset (<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="comment">// Cache the size and fill the target indices</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">int</span> target_size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (target-&gt;size ());</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;resize (target_size);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; target_size; ++i)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          (*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i] = i;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">computeOriginalIndexMapping</a> ();</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a09f2a72ad3a3b92f1f8f7e9405aa1a8a">  149</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a09f2a72ad3a3b92f1f8f7e9405aa1a8a">setInputTarget</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;target, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a> = target;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>.reset (<span class="keyword">new</span> std::vector&lt;int&gt; (indices_tgt));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">computeOriginalIndexMapping</a> ();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#ad4a1df4ab4946764ff319e9cfbb1806b">computeModelCoefficients</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;samples,</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                                Eigen::VectorXf &amp;model_coefficients);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a3d0349f226c9d12a0d3d551867265c0f">getDistancesToModel</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                           std::vector&lt;double&gt; &amp;distances);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aa66bc2c98e212c75e55d50fb330dccfd">selectWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> threshold,</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                            std::vector&lt;int&gt; &amp;inliers);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a2e72986f3fed3615b17207af96489870">countWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">double</span> threshold);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a1d997826c1974e6aebfad136f7993c56">optimizeModelCoefficients</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;inliers,</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                                 <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                                 Eigen::VectorXf &amp;optimized_coefficients);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a8095d5f0dc0085a89a55dd639795c6bc">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a8095d5f0dc0085a89a55dd639795c6bc">projectPoints</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;,</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                     <span class="keyword">const</span> Eigen::VectorXf &amp;,</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;, <span class="keywordtype">bool</span> = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      };</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a5e226a42afb080ffd0ea73d99ac6a333">  210</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a5e226a42afb080ffd0ea73d99ac6a333">doSamplesVerifyModel</a> (<span class="keyword">const</span> std::set&lt;int&gt; &amp;,</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                            <span class="keyword">const</span> Eigen::VectorXf &amp;,</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span>)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">inline</span> pcl::SacModel</div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#afe6b140dc460fc6319c4452aced41120">  219</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#afe6b140dc460fc6319c4452aced41120">getModelType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (SACMODEL_REGISTRATION); }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::sample_size_</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_size_</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a49852311cb0ea429988358e556d42536">isSampleGood</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;samples) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#abe25637b4f83dd2d243fa6681a80f78d">  237</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#abe25637b4f83dd2d243fa6681a80f78d">computeSampleDistanceThreshold</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="comment">// Compute the principal directions via PCA</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        Eigen::Matrix3f covariance_matrix = Eigen::Matrix3f::Zero ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (*cloud, covariance_matrix, xyz_centroid);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="comment">// Check if the covariance matrix is finite or not.</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; ++j)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            <span class="keywordflow">if</span> (!pcl_isfinite (covariance_matrix.coeffRef (i, j)))</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;              PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n&quot;</span>);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        Eigen::Vector3f eigen_values;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_values);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="comment">// Compute the distance threshold for sample selection</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a> = eigen_values.array ().sqrt ().sum () / 3.0;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a> *= <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n&quot;</span>, <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a>);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a2d1c53efa52c81971e0732aa207a3d6c">  266</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a2d1c53efa52c81971e0732aa207a3d6c">computeSampleDistanceThreshold</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud,</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                                      <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <span class="comment">// Compute the principal directions via PCA</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (*cloud, indices, covariance_matrix, xyz_centroid);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="comment">// Check if the covariance matrix is finite or not.</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; ++j)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;            <span class="keywordflow">if</span> (!pcl_isfinite (covariance_matrix.coeffRef (i, j)))</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;              PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n&quot;</span>);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        Eigen::Vector3f eigen_values;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_values);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="comment">// Compute the distance threshold for sample selection</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a> = eigen_values.array ().sqrt ().sum () / 3.0;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a> *= <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n&quot;</span>, <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a>);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#ac5eb30cd7315c2ee3d62b6ab589db669">estimateRigidTransformationSVD</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                                      <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                                      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                                      <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt,</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                                      Eigen::VectorXf &amp;transform);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">  309</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">computeOriginalIndexMapping</a> ()</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a> || !<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a> || <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;empty () || <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size () != <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;size ())</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size (); ++i)</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#afc82c76d1880b0cfefbe9ae71e1d95f7">correspondences_</a>[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]] = (*indices_tgt_)[i];</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">  318</a></span>&#160;      PointCloudConstPtr <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">  321</a></span>&#160;      boost::shared_ptr &lt;std::vector&lt;int&gt; &gt; <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#afc82c76d1880b0cfefbe9ae71e1d95f7">  324</a></span>&#160;      std::map&lt;int, int&gt; <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#afc82c76d1880b0cfefbe9ae71e1d95f7">correspondences_</a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">  327</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  };</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;}</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/impl/sac_model_registration.hpp&gt;</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_</span></div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_aae3b06fbee5243f926d40f8115bd406c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#aae3b06fbee5243f926d40f8115bd406c">pcl::SampleConsensusModel::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> sac_model.h:304</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ad45adf0e36f396a908c2ba08cfdd7a41"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">pcl::SampleConsensusModel::indices_</a></div><div class="ttdeci">boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> sac_model.h:540</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration</a></div><div class="ttdoc">SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a09f2a72ad3a3b92f1f8f7e9405aa1a8a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a09f2a72ad3a3b92f1f8f7e9405aa1a8a">pcl::SampleConsensusModelRegistration::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudConstPtr &amp;target, const std::vector&lt; int &gt; &amp;indices_tgt)</div><div class="ttdoc">Set the input point cloud target.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a1d997826c1974e6aebfad136f7993c56"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a1d997826c1974e6aebfad136f7993c56">pcl::SampleConsensusModelRegistration::optimizeModelCoefficients</a></div><div class="ttdeci">void optimizeModelCoefficients(const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</div><div class="ttdoc">Recompute the 4x4 transformation using the given inlier set</div><div class="ttdef"><b>Definition:</b> sac_model_registration.hpp:239</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a2d1c53efa52c81971e0732aa207a3d6c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a2d1c53efa52c81971e0732aa207a3d6c">pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold</a></div><div class="ttdeci">void computeSampleDistanceThreshold(const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Computes an &quot;optimal&quot; sample distance threshold based on the principal directions of the input cloud.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a2e72986f3fed3615b17207af96489870"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a2e72986f3fed3615b17207af96489870">pcl::SampleConsensusModelRegistration::countWithinDistance</a></div><div class="ttdeci">virtual int countWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Count all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.hpp:193</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a2eb44fa90e202d6f6baffde9075a1e6c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a2eb44fa90e202d6f6baffde9075a1e6c">pcl::SampleConsensusModelRegistration::~SampleConsensusModelRegistration</a></div><div class="ttdeci">virtual ~SampleConsensusModelRegistration()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a3d0349f226c9d12a0d3d551867265c0f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a3d0349f226c9d12a0d3d551867265c0f">pcl::SampleConsensusModelRegistration::getDistancesToModel</a></div><div class="ttdeci">void getDistancesToModel(const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</div><div class="ttdoc">Compute all distances from the transformed points to their correspondences</div><div class="ttdef"><b>Definition:</b> sac_model_registration.hpp:88</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a49852311cb0ea429988358e556d42536"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a49852311cb0ea429988358e556d42536">pcl::SampleConsensusModelRegistration::isSampleGood</a></div><div class="ttdeci">virtual bool isSampleGood(const std::vector&lt; int &gt; &amp;samples) const</div><div class="ttdoc">Check if a sample of indices results in a good sample of points indices.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a4a52de400afaa6c545e46943526254da"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">pcl::SampleConsensusModelRegistration::target_</a></div><div class="ttdeci">PointCloudConstPtr target_</div><div class="ttdoc">A boost shared pointer to the target point cloud data array.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a5e226a42afb080ffd0ea73d99ac6a333"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a5e226a42afb080ffd0ea73d99ac6a333">pcl::SampleConsensusModelRegistration::doSamplesVerifyModel</a></div><div class="ttdeci">bool doSamplesVerifyModel(const std::set&lt; int &gt; &amp;, const Eigen::VectorXf &amp;, const double)</div><div class="ttdoc">Verify whether a subset of indices verifies a given set of model coefficients. Pure virtual.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a6dc361a7533d16c5c2964bada50e1c3a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a6dc361a7533d16c5c2964bada50e1c3a">pcl::SampleConsensusModelRegistration::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudConstPtr &amp;target)</div><div class="ttdoc">Set the input point cloud target.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a74b78a4520e1a9bbf4383a6592953681"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a74b78a4520e1a9bbf4383a6592953681">pcl::SampleConsensusModelRegistration::SampleConsensusModelRegistration</a></div><div class="ttdeci">SampleConsensusModelRegistration(const PointCloudConstPtr &amp;cloud, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelRegistration.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a8095d5f0dc0085a89a55dd639795c6bc"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a8095d5f0dc0085a89a55dd639795c6bc">pcl::SampleConsensusModelRegistration::projectPoints</a></div><div class="ttdeci">void projectPoints(const std::vector&lt; int &gt; &amp;, const Eigen::VectorXf &amp;, PointCloud &amp;, bool=true)</div><div class="ttdoc">Create a new point cloud with inliers projected onto the model. Pure virtual.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a843dbea7d2ecd5da26f4ba03bbefa349"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a843dbea7d2ecd5da26f4ba03bbefa349">pcl::SampleConsensusModelRegistration::SampleConsensusModelRegistration</a></div><div class="ttdeci">SampleConsensusModelRegistration(const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelRegistration.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_aa66bc2c98e212c75e55d50fb330dccfd"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#aa66bc2c98e212c75e55d50fb330dccfd">pcl::SampleConsensusModelRegistration::selectWithinDistance</a></div><div class="ttdeci">void selectWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.hpp:134</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_aab103a0344b6dbb2e67af3fa4e7bbfd1"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">pcl::SampleConsensusModelRegistration::sample_dist_thresh_</a></div><div class="ttdeci">double sample_dist_thresh_</div><div class="ttdoc">Internal distance threshold used for the sample selection step.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:327</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_ab82a99e58a8c04e43b9f02ecbc15f8bd"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">pcl::SampleConsensusModelRegistration::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_abe25637b4f83dd2d243fa6681a80f78d"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#abe25637b4f83dd2d243fa6681a80f78d">pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold</a></div><div class="ttdeci">void computeSampleDistanceThreshold(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Computes an &quot;optimal&quot; sample distance threshold based on the principal directions of the input cloud.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:237</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_ac5eb30cd7315c2ee3d62b6ab589db669"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#ac5eb30cd7315c2ee3d62b6ab589db669">pcl::SampleConsensusModelRegistration::estimateRigidTransformationSVD</a></div><div class="ttdeci">void estimateRigidTransformationSVD(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const pcl::PointCloud&lt; PointT &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Eigen::VectorXf &amp;transform)</div><div class="ttdoc">Estimate a rigid transformation between a source and a target point cloud using an SVD closed-form so...</div><div class="ttdef"><b>Definition:</b> sac_model_registration.hpp:268</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_ad4a1df4ab4946764ff319e9cfbb1806b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#ad4a1df4ab4946764ff319e9cfbb1806b">pcl::SampleConsensusModelRegistration::computeModelCoefficients</a></div><div class="ttdeci">bool computeModelCoefficients(const std::vector&lt; int &gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Compute a 4x4 rigid transformation matrix from the samples given</div><div class="ttdef"><b>Definition:</b> sac_model_registration.hpp:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_adaa4d78ed81e557936b9f786bb7d719b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">pcl::SampleConsensusModelRegistration::indices_tgt_</a></div><div class="ttdeci">boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; indices_tgt_</div><div class="ttdoc">A pointer to the vector of target point indices to use.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:321</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_adf66c5ebde25ed6aefe66e5e1af91a6e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">pcl::SampleConsensusModelRegistration::computeOriginalIndexMapping</a></div><div class="ttdeci">void computeOriginalIndexMapping()</div><div class="ttdoc">Compute mappings between original indices of the input_/target_ clouds.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:309</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_afc82c76d1880b0cfefbe9ae71e1d95f7"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#afc82c76d1880b0cfefbe9ae71e1d95f7">pcl::SampleConsensusModelRegistration::correspondences_</a></div><div class="ttdeci">std::map&lt; int, int &gt; correspondences_</div><div class="ttdoc">Given the index in the original point cloud, give the matching original index in the target cloud</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_afe6b140dc460fc6319c4452aced41120"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#afe6b140dc460fc6319c4452aced41120">pcl::SampleConsensusModelRegistration::getModelType</a></div><div class="ttdeci">pcl::SacModel getModelType() const</div><div class="ttdoc">Return an unique id for this model (SACMODEL_REGISTRATION).</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:219</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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